version: 66.03
glider: 122
mission: 6
dive: 367
start: 5 6 108 11 45 36
data:
$ID,122
$MISSION,6
$DIVE,367
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,366
$T_MISSION,439
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0274
$MASS,51598
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031900001
$HD_B,0.0133
$HD_C,4.5199999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-34519.309
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3579
$C_PITCH,2905
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.2
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,168
$ROLL_MAX,3733
$ROLL_DEG,40
$C_ROLL_DIVE,2216
$C_ROLL_CLIMB,2336
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2748
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-4.1162887
$PRESSURE_SLOPE,0.00025722419
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044208211
$SEABIRD_T_H,0.00065343338
$SEABIRD_T_I,2.7514026e-05
$SEABIRD_T_J,3.0288847e-06
$SEABIRD_C_G,-10.084093
$SEABIRD_C_H,1.1290534
$SEABIRD_C_I,-0.0015321091
$SEABIRD_C_J,0.00018406138
$GPS1,113901,1251.131,12042.078,39,1.2,39,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-73.2
$GPS2,114502,1251.074,12042.052,12,1.3,16,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,RECOV_1
$TGT_LATLONG,1241.580,12045.480
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,161.9,18643,-18.6,-9.016
$D_GRID,838
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.56,-146.0,0.0,0.0,0,91,0.00,0.00,-64.15,0.000,2,0.000,0.000,249,2180,2397
$GC,94,-1.56,-146.0,3.7,-8.3,11,133,13.32,2.40,-18.30,0.000,4,0.169,0.051,2560,830,3346
$GC,181,-1.30,-146.0,21.3,-18.9,25,189,0.32,2.33,0.00,0.000,6,0.118,0.028,2619,2215,3347
$GC,528,-1.18,-146.0,72.6,-12.9,86,535,0.15,2.38,0.00,0.000,4,0.116,0.038,2650,836,3349
$GC,604,-1.13,-146.0,82.1,-11.7,99,611,0.00,2.42,0.00,0.000,6,0.000,0.028,2650,2285,3350
$GC,950,-1.13,-146.0,118.9,-11.1,160,956,0.00,2.28,0.00,0.000,4,0.000,0.045,2650,3616,3351
$GC,1065,-1.13,-146.0,130.2,-9.4,180,1072,0.00,2.08,0.00,0.000,6,0.000,0.025,2650,2330,3352
$GC,1411,-1.28,-146.0,160.2,-9.0,241,1418,0.12,2.20,0.00,0.000,4,0.053,0.043,2607,3618,3352
$GC,1483,-1.24,-146.0,167.3,-10.0,253,1490,0.15,2.25,0.00,0.000,6,0.092,0.026,2636,2243,3352
$GC,1829,-1.36,-146.0,197.8,-7.9,314,1837,0.12,2.35,0.00,0.000,4,0.053,0.042,2594,3618,3353
$GC,1900,-1.31,-146.0,204.4,-9.5,326,1908,0.12,2.12,0.00,0.000,6,0.100,0.027,2617,2316,3353
$GC,2248,-1.42,-146.0,233.2,-8.3,387,2254,0.00,2.22,0.00,0.000,4,0.000,0.044,2617,3618,3353
$GC,2314,-1.42,-146.0,239.2,-8.9,398,2320,0.00,2.28,0.00,0.000,6,0.000,0.028,2617,2241,3353
$GC,2654,-1.51,-146.0,265.2,-7.5,441,2659,0.17,2.45,0.00,0.000,4,0.048,0.045,2559,824,3351
$GC,2705,-1.41,-146.0,269.9,-9.4,445,2710,0.20,2.65,0.00,0.000,6,0.098,0.032,2597,2388,3352
$GC,3031,-1.46,-146.0,298.8,-9.0,475,3035,0.00,2.10,0.00,0.000,4,0.000,0.048,2597,3616,3349
$GC,3134,-1.46,-146.0,308.6,-9.7,484,3138,0.00,2.25,0.00,0.000,6,0.000,0.031,2597,2263,3349
$GC,3463,-1.53,-146.0,336.2,-7.8,514,3468,0.12,2.53,0.00,0.000,4,0.057,0.047,2560,820,3348
$GC,3518,-1.45,-146.0,342.0,-9.9,518,3526,0.15,2.70,0.00,0.000,6,0.104,0.033,2587,2410,3347
$GC,3844,-1.48,-146.0,369.7,-8.7,549,3848,0.00,2.10,0.00,0.000,4,0.000,0.050,2587,3625,3345
$GC,3913,-1.48,-146.0,375.7,-8.6,555,3917,0.00,2.25,0.00,0.000,6,0.000,0.031,2587,2278,3346
$GC,4241,-1.53,-146.0,401.2,-7.2,585,4246,0.00,2.55,0.00,0.000,4,0.000,0.049,2587,823,3343
$GC,4327,-1.53,-146.0,408.1,-8.2,592,4331,0.00,2.72,0.00,0.000,6,0.000,0.034,2587,2412,3343
$GC,4655,-1.57,-146.0,433.1,-8.5,622,4660,0.12,2.10,0.00,0.000,4,0.058,0.049,2551,3619,3341
$GC,4722,-1.43,-146.0,440.6,-11.0,627,4729,0.22,2.25,0.00,0.000,6,0.108,0.031,2592,2278,3340
$GC,5048,-1.50,-146.0,469.3,-8.5,658,5052,0.00,2.35,0.00,0.000,4,0.000,0.049,2592,3618,3338
$GC,5099,-1.50,-146.0,474.0,-9.2,662,5103,0.00,2.20,0.00,0.000,6,0.000,0.032,2592,2312,3338
$GC,5427,-1.56,-146.0,498.7,-7.5,692,5432,0.12,2.30,0.00,0.000,4,0.058,0.049,2557,3621,3336
$GC,5515,-1.44,-146.0,506.0,-7.7,696,5520,0.17,2.05,0.00,0.000,6,0.111,0.032,2587,2402,3334
$GC,5844,-1.49,-146.0,526.9,-6.4,712,5849,0.00,2.80,0.00,0.000,4,0.000,0.051,2587,824,3333
$GC,5923,-1.49,-146.0,533.4,-8.1,715,5930,0.00,2.58,0.00,0.000,6,0.000,0.035,2587,2325,3332
$GC,6241,-1.71,-146.0,545.4,0.3,731,6246,0.22,2.25,0.00,0.000,4,0.039,0.053,2513,3615,3331
$STATE,6294,end dive,NO_VERTICAL_VELOCITY
$STATE,6294,begin apogee
$GC,6302,-0.35,0.0,545.5,0.0,733,6429,1.48,0.00,117.72,0.991,6,0.079,0.000,2823,2334,2748
$STATE,6429,end apogee,CONTROL_FINISHED_OK
$STATE,6429,begin climb
$GC,6432,1.56,146.0,545.1,0.0,740,6557,1.95,0.00,118.82,0.959,6,0.059,0.000,3245,2334,2152
$GC,6866,1.43,193.5,520.7,6.9,761,6910,0.15,2.62,37.95,0.960,4,0.122,0.054,3220,937,1959
$GC,6957,1.27,193.5,512.8,10.3,765,6962,0.20,2.45,0.00,0.000,6,0.117,0.036,3184,2335,1958
$GC,7282,1.28,236.2,485.5,7.1,788,7321,0.00,2.58,34.38,0.950,4,0.000,0.054,3185,943,1785
$GC,7372,1.28,267.7,478.6,7.6,795,7404,0.00,2.38,26.35,0.943,6,0.000,0.037,3185,2305,1656
$GC,7721,1.31,280.8,447.3,8.4,828,7734,0.00,0.00,10.25,0.959,6,0.000,0.000,3185,2304,1603
$GC,8054,1.32,291.5,417.4,8.5,859,8069,0.00,2.53,9.27,0.953,4,0.000,0.055,3185,948,1558
$GC,8159,1.32,291.5,407.0,9.2,868,8166,0.00,2.35,0.00,0.000,6,0.000,0.037,3185,2293,1557
$GC,8488,1.40,318.5,377.2,7.8,899,8516,0.12,2.62,21.98,0.913,4,0.068,0.055,3215,3729,1448
$GC,8538,1.37,318.5,372.2,10.2,903,8546,0.00,2.78,0.00,0.000,6,0.000,0.037,3215,2140,1447
$GC,8866,1.37,318.5,341.3,10.3,934,8870,0.00,2.83,0.00,0.000,4,0.000,0.051,3215,3724,1445
$GC,8962,1.32,318.5,330.7,10.5,942,8967,0.12,2.60,0.00,0.000,6,0.126,0.037,3195,2225,1445
$GC,9290,1.32,319.7,300.3,9.0,972,9294,0.00,2.30,0.00,0.000,4,0.000,0.055,3195,938,1444
$GC,9341,1.32,319.7,295.4,9.3,976,9345,0.00,2.28,0.00,0.000,6,0.000,0.035,3195,2252,1443
$GC,9670,1.46,353.6,268.6,7.5,1006,9708,0.12,2.67,28.80,0.838,4,0.065,0.052,3228,3727,1305
$GC,9767,1.46,353.6,259.5,10.4,1014,9772,0.00,2.83,0.00,0.000,6,0.000,0.038,3229,2109,1304
$GC,10108,1.46,353.6,226.8,9.0,1065,10115,0.00,2.88,0.00,0.000,4,0.000,0.050,3228,3727,1302
$GC,10179,1.46,353.6,220.0,9.2,1077,10186,0.00,2.70,0.00,0.000,6,0.000,0.036,3229,2167,1301
$GC,10526,1.46,353.6,187.9,10.3,1138,10533,0.00,2.78,0.00,0.000,4,0.000,0.050,3229,3734,1301
$GC,10590,1.46,353.6,181.1,9.9,1149,10597,0.00,2.62,0.00,0.000,6,0.000,0.035,3228,2210,1301
$GC,10938,1.59,370.0,151.0,8.3,1210,10958,0.00,0.00,12.88,0.770,6,0.000,0.000,3229,2209,1238
$GC,11298,1.80,424.3,121.1,6.6,1273,11350,0.28,2.38,45.28,0.696,4,0.044,0.053,3303,938,1016
$GC,11448,1.83,438.2,108.4,8.4,1298,11467,0.00,2.00,11.12,0.708,6,0.000,0.032,3303,2108,960
$GC,11808,1.97,473.2,77.9,7.5,1361,11843,0.12,2.17,28.62,0.649,4,0.058,0.051,3341,941,818
$GC,11931,1.93,473.2,65.8,10.5,1381,11938,0.00,2.15,0.00,0.000,6,0.000,0.031,3341,2201,814
$GC,12279,2.06,503.3,32.7,7.7,1442,12312,0.00,2.30,23.98,0.598,4,0.000,0.047,3341,942,695
$GC,12349,2.10,503.3,26.5,9.3,1453,12357,0.00,2.08,0.00,0.000,6,0.000,0.030,3341,2170,693
$STATE,12625,end climb,SURFACE_DEPTH_REACHED
$STATE,12625,begin surface coast
$FINISH,-0.1,1.020244
$STATE,12655,end surface coast,CONTROL_FINISHED_OK
$STATE,12655,begin surface
$SM_CCo,12740,0.00,0.000,0,0,688,505.32
$SM_GC,0.79,13.57,0.00,0.00,0.038,0.000,0.000,250,2246,688,-12.17,0.85,505.32
$IRIDIUM_FIX,1247.67,12040.38,310797,070724
$TT8_MAMPS,0.023777
$HUMID,2075
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,23.90
$XPDR_PINGS,433
$ALTIM_BOTTOM_PING,500.1,53.3
$24V_AH,23.3,68.315
$10V_AH,10.1,35.164
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,33.975,134.600,527.400,0.000,0.000,29.505,28.134,165.916,108.750,0.000,0.000,16.887,3121.542,6296.072,678.853,2434.791,573.566,0.000,1923.665,0.000,2411.990,0.000,5.511
$DEVICE_MAMPS,168.740,77.467,990.964,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1005.298,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47213,1507
$CAP_FILE_SIZE,144373,0
$CFSIZE,260165632,226418688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.009,322.5,1
$GPS,060508,151908,1250.655,12042.103,36,0.9,36,-0.8